where \(x \in \mathbb {R}^n\)  is the state and \(u \in \mathbb {R}^m\)  is the control. With this system we associate the following performance reward function [1]}, [2]}
\( J &= \Phi (x(t_H)) + \int _{t_0}^{t_H} L(x(t),u(t)) dt\) 
